CN102505851A - Concrete pump truck and pumping control system and method for concrete pump truck - Google Patents
Concrete pump truck and pumping control system and method for concrete pump truck Download PDFInfo
- Publication number
- CN102505851A CN102505851A CN2011103020357A CN201110302035A CN102505851A CN 102505851 A CN102505851 A CN 102505851A CN 2011103020357 A CN2011103020357 A CN 2011103020357A CN 201110302035 A CN201110302035 A CN 201110302035A CN 102505851 A CN102505851 A CN 102505851A
- Authority
- CN
- China
- Prior art keywords
- pumping
- frequency
- vibration
- expectation
- boom system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005086 pumping Methods 0.000 title claims abstract description 209
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000005457 optimization Methods 0.000 claims abstract description 18
- 230000000052 comparative effect Effects 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 6
- 238000010183 spectrum analysis Methods 0.000 claims description 4
- 230000007547 defect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Landscapes
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
Aiming at the defect that the conventional pumping control system cannot adjust the pumping frequency under the condition of keeping the pumping speed unchanged, the invention provides a control system and a control method capable of adjusting the pumping frequency in real time under the condition of keeping the pumping speed unchanged. The control system for the concrete pump truck includes: the signal processing unit is used for acquiring vibration and attitude signals of the boom system in real time, optimizing the vibration and attitude signals and outputting the optimized vibration and attitude signals to the frequency identification unit; the frequency identification unit is used for calculating the current actual pumping frequency, acquiring the natural frequency of the boom system according to the vibration and attitude signals after optimization processing, and sending the current actual pumping frequency and the natural frequency to the pumping frequency calculation unit; a pumping frequency calculation unit which compares the current actual pumping frequency and the natural frequency received from the frequency identification unit and sets a desired pumping frequency according to the comparison result.
Description
Technical field
The present invention relates to the constructional engineering machinery field, relate in particular to a kind of concrete mixer and the pumping control system and the pumping control method that are used for concrete mixer.
Background technology
At present, in construction work, generally use concrete mixer that concrete is transported to the specified target location of construction work from the pump truck position.Concrete mixer mainly is made up of chassis, pumping system, conveyance conduit and boom system; Boom system comprises a plurality of jibs and oil cylinder that between each jib, is provided with and electromagnetic valve, and said pumping system comprises the oil pump of oil cylinder and concrete cylinder and driving oil cylinder and concrete cylinder.Concrete is pushed into conveyance conduit through the alternate reciprocating motion that is installed in the two oil cylinder pumping systems on the chassis, and conveyance conduit is fixed on the jib and in company with jib and moves together.Boom system generally is made up of 3～6 joint jibs, and the boom system shown in Fig. 1 comprises 5 joint jibs, be hinged between the jib, and the contractile motion through oil cylinder 2 draws in or launches; Rotation through rotating shaft 10 between each jib realizes opening and folder function; Through stretching of oil cylinder 2 inner piston rods, rely on connecting rod 9 to drive adjacent jib and be rotated; The turntable 1 of boom system is installed on the chassis, during work, turntable 1 and on parts can in horizontal extent, rotate, so just can realize the spatial movement that jib is terminal, thus with the casting position of transmission and concrete transmission to expectation.
Yet the inertia of boom system is big, poor rigidity, and intrinsic frequency is lower; Concrete discontinuous in conveyance conduit flowed very big to the impact of jib, causes jib in motion and pumpdown work, is prone to the big situation of vibrating; Particularly in the pumping frequency during near the jib intrinsic frequency, because resonance effects, the jib amplitude may surpass 1000mm; Bring great difficulty and danger to construction, and be prone to cause jib structure spare to be destroyed.Fig. 2 illustrates existing a kind of pump truck in pumpdown work, the amplitude that jib is terminal and the corresponding relation of pumping frequency.Can know by Fig. 2, when the pumping frequency near or equal the intrinsic frequency f of boom system
2The time, (near 10 times) phenomenon appears sharply increasing in the terminal amplitude of jib.
Yet in the prior art, the pumping of concrete mixer control system can't regulate the pumping frequency under the constant situation of pumping system rate of pumping keeping.
Summary of the invention
The present invention is directed to the defective that the pumping control system of concrete mixer of the prior art can not regulate the pumping frequency of pumping system under the constant situation of rate of pumping, provide a kind of can be in the control system and the control method that keep the pumping frequency of real-time regulated pumping system under the constant situation of rate of pumping.
The present invention provides a kind of control system that is used for concrete mixer, and this concrete mixer comprises boom system and pumping system, and wherein, said pumping control system comprises:
Signal processing unit is used for gathering in real time the vibration and the attitude signal of said boom system, and this vibration and attitude signal are optimized processing, and the frequency estimation unit is exported in vibration after the optimization process and attitude signal;
The frequency estimation unit; Be used to calculate the pumping frequency of current reality; The intrinsic frequency of obtaining said boom system according to the vibration after said signal processing unit optimization process and attitude signal, and the pumping frequency and the said intrinsic frequency of said current reality sent to pumping frequency computation part unit;
Pumping frequency computation part unit is used for the pumping frequency and the said intrinsic frequency of the said current reality that is received from said frequency estimation unit are compared, and according to comparative result the pumping frequency of expectation is set.
The present invention also provides a kind of pumping control method that is used for concrete mixer, and this concrete mixer comprises boom system and pumping system, and wherein, said pumping control method comprises:
Gather the vibration and the attitude signal of said boom system in real time, this vibration and attitude signal are optimized processing;
Calculate current actual pumping frequency, calculate the intrinsic frequency of said boom system according to the vibration after the optimization process and attitude signal;
The pumping frequency and the said intrinsic frequency of said current reality are compared, the pumping frequency of expectation is set according to comparative result.
The present invention also provides a kind of concrete mixer; This concrete mixer comprises boom system and pumping system; Said boom system comprises a plurality of jibs and oil cylinder that between each jib, is provided with and electromagnetic valve; Said pumping system comprises the oil pump of oil cylinder and concrete cylinder and driving oil cylinder and concrete cylinder, and wherein, this concrete mixer also comprises the pumping control system that the invention described above provides.
Because pump in accordance with the present invention is sent control system and pumping control method and concrete mixer the jib attitude and the vibration signal of picker arm frame system in real time; And then the intrinsic frequency of acquisition boom system and current pumping frequency; And the intrinsic frequency of pumping frequency and boom system compared; Judge in view of the above whether both resonate; And the pumping frequency is set according to comparative result, so pump in accordance with the present invention send control system and pumping control method and concrete mixer can under the situation that satisfies the rate of pumping requirement, avoid the resonance in the concrete mixer.
Description of drawings
Fig. 1 is the structural representation of the boom system of concrete mixer;
Fig. 2 is the relation diagram between jib amplitude and the boom system excited frequency;
Fig. 3 is the block diagram that is used for the pumping control system of concrete mixer according to of the present invention;
Fig. 4 is the block diagram that is used for the pumping control system of concrete mixer according to of the present invention;
Fig. 5 is the flow chart that is used for the pumping control method of concrete mixer according to of the present invention.
The specific embodiment
Describe pumping control system and pumping control method and the concrete mixer that is used for concrete mixer according to of the present invention in detail below in conjunction with accompanying drawing.
As shown in Figure 3; The pumping control system 300 that is used for concrete mixer according to the present invention comprises: signal processing unit 301; Be used for gathering in real time the vibration and the attitude signal of said boom system; This vibration and attitude signal are optimized processing, frequency estimation unit 302 is exported in vibration after the optimization process and attitude signal; Frequency estimation unit 302; Be used to calculate current actual pumping frequency; The intrinsic frequency of obtaining said boom system according to the vibration after said signal processing unit 301 optimization processes and attitude signal, and the pumping frequency and the said intrinsic frequency of said current reality sent to pumping frequency computation part unit 303; Pumping frequency computation part unit 303 is used for the pumping frequency and the said intrinsic frequency of the said current reality that is received from said frequency estimation unit 302 are compared, and the pumping frequency of expectation is set according to comparative result.
In a preferred implementation according to the present invention; Signal processing unit 301 can comprise sensor circuit and treatment circuit; Wherein, Sensor circuit is installed on the jib being used to detect the vibration and the attitude signal of jib, treatment circuit then to sensor circuit detected jib vibration carry out processing such as filtering, amplification with attitude signal.
In another preferred implementation according to the present invention, said frequency estimation unit 302 is according to one group in the following parameter group pumping frequency of calculating current reality: the rate of pumping of the expectation that the structural parameters of the oil cylinder of said pumping system or concrete cylinder and frequency estimation unit 302 receive from pumping control system 300 outsides; The perhaps detected commutation signal of switching-over detecting element on the oil cylinder of said pumping system or the concrete cylinder; The perhaps variation of the oil cylinder of said pumping system or the pressure of concrete cylinder in commutation process.Because the relation between the structural parameters of the oil cylinder (concrete cylinder) of rate of pumping, pumping frequency and pumping system; Relation between the commutation signal of the oil cylinder of perhaps pumping frequency and pumping system (concrete cylinder) or the pressure in the commutation process change; Be known to those skilled in the art, so repeat no more here.
In addition, the rate of pumping of above-mentioned expectation refers to the rate of pumping of the expectation of equipment operator's input.And the oil cylinder of the oil cylinder of the oil cylinder of said pumping system or the structural parameters of concrete cylinder, said pumping system or detected commutation signal of switching-over detecting element on the concrete cylinder and said pumping system or the parameters such as variation of the pressure of concrete cylinder in commutation process can be stored in the frequency estimation unit 302 in advance; Certainly, these parameters also can input to frequency estimation unit 302 by the user when calculating the pumping frequency of current reality.
In addition, above-mentioned commutation process refers to: concrete mixer is that the alternate reciprocating motion of two oil cylinders through pumping system realizes to concrete continuous conveying, when an oil cylinder motion to the end, need to change the direction of motion, this process promptly is called switching-over.Wherein, the switching-over detecting element can be near elements such as switch, pressure difference switches.
In another preferred implementation according to the present invention, frequency estimation unit 302 can obtain the intrinsic frequency of boom system according to one in the following mode: through the intrinsic frequency that boom system is obtained in spectrum analysis is carried out in vibration after signal processing unit 301 optimization processes and attitude signal; Perhaps according to the intrinsic frequency of obtaining boom system through vibration and the attitude signal of the jib after signal processing unit 301 optimization processes under vibration free damping state; Perhaps, obtain the intrinsic frequency of boom system through searching the look-up table of the corresponding relation between the intrinsic frequency that comprises said vibration and attitude signal and boom system.Wherein, said look-up table can be set up through the mode of test or emulation.In addition, the relation of jib between the intrinsic frequency of the vibration under the vibration free damping state and attitude signal and boom system is known to those skilled in the art, repeats no more here.
In another preferred implementation according to the present invention; Pumping frequency computation part unit 303 is configured to be provided with according to following mode the pumping frequency of expectation: if the absolute value of the difference of the pumping frequency of said current reality and said intrinsic frequency is greater than first preset value; Then think boom system deviation resonance district this moment, therefore the pumping frequency of the said current reality pumping frequency that is set to expect; If the absolute value of the difference of the pumping frequency of said current reality and said intrinsic frequency is less than or equal to said first preset value; Think that then this moment, boom system got into resonance region; But in order to satisfy the rate of pumping requirement of operating personnel input, the pumping frequency that therefore will said current reality and second preset value and and the pumping frequency of said current reality and the difference of said second preset value be arranged alternately pumping frequency into said expectation.Wherein, the value of said first preset value can be confirmed according to relation curve between jib amplitude and the boom system excited frequency (curve of that kind as shown in Figure 2) or corresponding tables; And different concrete mixers, the value of first preset value is difference to some extent.In addition, second preset value can equate that certain second preset value also can be greater than or less than first preset value with first preset value, requires as long as satisfy the precision and the service behaviour of concrete mixer.
In addition; As shown in Figure 4; Pump in accordance with the present invention send the control system can also comprise oil pump capacity control signal computing unit 401, be used for according to before the characterisitic parameter of structural parameters and oil pump capacity-electric current (or voltage) of oil cylinder of pumping frequency, said pumping system of the expectation that is provided with calculate the control signal of the discharge capacity that is used to control oil pump.Like this, control the discharge capacity of oil pump, just can realize control, thereby can make pumping system carry out work with the pumping frequency of expectation to the pumping frequency of pumping system through the discharge capacity control signal of oil pump.In addition; Because the relation between the physical dimension of the relation between the output flow of the discharge capacity of oil pump, the rotating speed of oil pump and oil pump and the flow of oil pump, oil cylinder and the pumping frequency of pumping system is well known to a person skilled in the art, so repeat no more here.
Describe the pumping control method that is used for concrete mixer according to of the present invention below in conjunction with Fig. 5, this pumping control method comprises:
The vibration and the attitude signal of S51, real-time picker arm frame system are optimized processing to this vibration and attitude signal;
S52, calculate current actual pumping frequency, calculate the intrinsic frequency of boom system according to the vibration after the optimization process and attitude signal;
S53, the pumping frequency and the intrinsic frequency of current reality compared, the pumping frequency of expectation is set according to comparative result.
Wherein, in step S51, can be through being installed in vibration and the attitude signal that sensor circuit on the jib detects jib.
Further, in step S52, said pumping control method can be calculated the pumping frequency of said current reality according to a group in the following parameter group: the rate of pumping of the expectation of the structural parameters of the oil cylinder of pumping system or concrete cylinder and user's input; The perhaps detected commutation signal of switching-over detecting element on the oil cylinder of said pumping system or the concrete cylinder; The perhaps variation of the oil cylinder of said pumping system or the pressure of concrete cylinder in commutation process.Because the relation between the structural parameters of the oil cylinder (concrete cylinder) of rate of pumping, pumping frequency and pumping system; Relation between pressure in relation between the commutation signal of the oil cylinder of pumping frequency and pumping system (concrete cylinder) and pumping frequency and oil cylinder (concrete cylinder) commutation process changes; Be known to those skilled in the art, so repeat no more here.
In addition, the rate of pumping of above-mentioned expectation refers to the rate of pumping of the expectation of equipment operator's input.
In addition,, when system is controlled in the description pumping that is used for concrete mixer according to the present invention, be illustrated, repeat no more here about the notion of " switching-over ".
Further; In step S52, said pumping control method can be obtained the intrinsic frequency of said boom system according to one in the following mode: through the intrinsic frequency that boom system is obtained in spectrum analysis is carried out in vibration after the optimization process and attitude signal; The intrinsic frequency of perhaps obtaining boom system according to vibration and the attitude signal of the jib after the optimization process under vibration free damping state; Perhaps, obtain the intrinsic frequency of boom system through searching the look-up table of the corresponding relation between the intrinsic frequency that comprises said vibration and attitude signal and said boom system.Wherein, said look-up table can be set up through the mode of test or emulation.In addition, the relation of jib between the intrinsic frequency of the vibration under the vibration free damping state and attitude signal and boom system is known to those skilled in the art, repeats no more here.
In addition; In step S53; The said pumping frequency that expectation is set according to comparative result can comprise: if the absolute value of the difference of the pumping frequency of said current reality and said intrinsic frequency is greater than first preset value; Then think boom system deviation resonance district this moment, therefore the pumping frequency of the said current reality pumping frequency that is set to expect; If the absolute value of the difference of the pumping frequency of said current reality and said intrinsic frequency is less than or equal to said first preset value; Think that then this moment, boom system got into resonance region; But in order to satisfy the rate of pumping requirement of operating personnel input, the pumping frequency that therefore will said current reality and second preset value and and the pumping frequency of said current reality and the difference of second preset value be arranged alternately pumping frequency into said expectation.Wherein, the value of said first preset value can be confirmed according to relation curve between jib amplitude and the boom system excited frequency (curve of that kind as shown in Figure 2) or corresponding tables; And different concrete mixers, the value of first preset value is difference to some extent.In addition, second preset value can equate that certain second preset value also can be greater than or less than first preset value with first preset value, requires as long as satisfy the precision and the service behaviour of concrete mixer.
In addition; After being provided with the pumping frequency of expectation, the pumping control method that is used to control concrete mixer according to the present invention can also comprise: the control signal of calculating the discharge capacity that is used to control oil pump according to the characterisitic parameter of the structural parameters of the oil cylinder of the pumping frequency of set expectation, said pumping system and oil pump capacity-curtage.Like this, control the discharge capacity of oil pump, just can realize control, thereby can make pumping system carry out work with the pumping frequency of expectation to the pumping frequency of pumping system through the discharge capacity control signal of oil pump.In addition, because the relation between the pumping frequency of the physical dimension of the output flow of relation between the output flow of the rotating speed of the discharge capacity of oil pump, oil pump and oil pump and oil pump, oil cylinder and pumping system is well known to a person skilled in the art, repeat no more here.
In addition; The present invention also provides a kind of concrete mixer; This concrete mixer comprises boom system and pumping system; Said boom system comprises a plurality of jibs and oil cylinder that between each jib, is provided with and electromagnetic valve, and said pumping system comprises the oil pump of oil cylinder and concrete cylinder and driving oil cylinder and concrete cylinder.Except comprising above-mentioned known structure, also comprise above-described pumping control system according to concrete mixer of the present invention.In preamble, this pumping control system is described in detail, so repeat no more here.
Below only combine preferred implementation of the present invention that the present invention is described in detail, it will be appreciated by those skilled in the art that under the situation that does not deviate from spirit and scope of the invention, can carry out various distortion and modification the present invention.
Claims (11)
1. pumping control system that is used for concrete mixer, this concrete mixer comprises boom system and pumping system, wherein, said pumping control system comprises:
Signal processing unit is used for gathering in real time the vibration and the attitude signal of said boom system, and this vibration and attitude signal are optimized processing, and the frequency estimation unit is exported in vibration after the optimization process and attitude signal;
The frequency estimation unit; Be used to calculate the pumping frequency of current reality; The intrinsic frequency of obtaining said boom system according to the vibration after said signal processing unit optimization process and attitude signal, and the pumping frequency and the said intrinsic frequency of said current reality sent to pumping frequency computation part unit;
Pumping frequency computation part unit is used for the pumping frequency and the said intrinsic frequency of the said current reality that is received from said frequency estimation unit are compared, and according to comparative result the pumping frequency of expectation is set.
2. pumping according to claim 1 control system, wherein, said frequency estimation unit is according to one group in the following parameter group pumping frequency of calculating said current reality:
The rate of pumping of the expectation that the structural parameters of the oil cylinder of said pumping system or concrete cylinder and said frequency estimation unit receive from said pumping control system outside;
The detected commutation signal of switching-over detecting element on the oil cylinder of said pumping system or the concrete cylinder; And
The variation of the oil cylinder of said pumping system or the pressure of concrete cylinder in commutation process.
3. system is controlled in pumping according to claim 1, and wherein, said frequency estimation unit obtains the intrinsic frequency of said boom system according to one in the following mode:
Through the intrinsic frequency that said boom system is obtained in spectrum analysis is carried out in vibration after said signal processing unit optimization process and attitude signal; Perhaps
According to the intrinsic frequency of obtaining said boom system through vibration and the attitude signal of the jib after the said signal processing unit optimization process under vibration free damping state; Perhaps
Through searching the look-up table of the corresponding relation between the intrinsic frequency that comprises said vibration and attitude signal and said boom system, obtain the intrinsic frequency of said boom system.
4. system is controlled in pumping according to claim 1, and wherein, said pumping frequency computation part unit is configured to be provided with according to following mode the pumping frequency of expectation:
If the absolute value of the difference of the pumping frequency of said current reality and said intrinsic frequency is greater than first preset value, then the pumping frequency of said current reality is set to the pumping frequency of said expectation;
If the pumping frequency of said current reality is less than or equal to said first preset value with the absolute value of the difference of said intrinsic frequency, then with the pumping frequency of said current reality and second preset value and and the pumping frequency of said current reality and the difference of said second preset value be arranged alternately pumping frequency into said expectation.
5. system is controlled in pumping according to claim 4; Wherein, Said pumping control system also comprises oil pump capacity control signal computing unit, and this oil pump capacity control signal computing unit is used for the control signal that characterisitic parameter according to the structural parameters of the oil cylinder of the pumping frequency of set expectation, said pumping system and oil pump capacity-curtage calculates the discharge capacity that is used to control said oil pump.
6. pumping control method that is used for concrete mixer, this concrete mixer comprises boom system and pumping system, wherein, said pumping control method comprises:
Gather the vibration and the attitude signal of said boom system in real time, this vibration and attitude signal are optimized processing;
Calculate current actual pumping frequency, calculate the intrinsic frequency of said boom system according to the vibration after the optimization process and attitude signal;
The pumping frequency and the said intrinsic frequency of said current reality are compared, the pumping frequency of expectation is set according to comparative result.
7. pumping control method according to claim 6, wherein, said pumping control method is according to one group in the following parameter group pumping frequency of calculating said current reality:
The rate of pumping of the expectation of the structural parameters of the oil cylinder of said pumping system or concrete cylinder and user's input;
The detected commutation signal of switching-over detecting element on the oil cylinder of said pumping system or the concrete cylinder; And
The variation of the oil cylinder of said pumping system or the pressure of concrete cylinder in commutation process.
8. pumping control method according to claim 6, wherein, said pumping control method is obtained the intrinsic frequency of said boom system according to one in the following mode:
Through the intrinsic frequency that said boom system is obtained in spectrum analysis is carried out in vibration after the optimization process and attitude signal; Perhaps
The intrinsic frequency of obtaining said boom system according to vibration and the attitude signal of the jib after the optimization process under vibration free damping state; Perhaps
Through searching the look-up table of the corresponding relation between the intrinsic frequency that comprises said vibration and attitude signal and said boom system, obtain the intrinsic frequency of said boom system.
9. pumping control method according to claim 6, wherein, the said pumping frequency that expectation is set according to comparative result comprises:
If the absolute value of the difference of the pumping frequency of said current reality and said intrinsic frequency is greater than first preset value, then the pumping frequency of said current reality is set to the pumping frequency of said expectation;
If the pumping frequency of said current reality is less than or equal to said first preset value with the absolute value of the difference of said intrinsic frequency, then with the pumping frequency of said current reality and second preset value and and the pumping frequency of said current reality and the difference of said second preset value be arranged alternately pumping frequency into said expectation.
10. pumping control method according to claim 9; Wherein, said pumping control method also comprises: the control signal of calculating the discharge capacity that is used to control said oil pump according to the characterisitic parameter of the structural parameters of the oil cylinder of the pumping frequency of set expectation, said pumping system and oil pump capacity-curtage.
11. concrete mixer; This concrete mixer comprises boom system and pumping system; Said boom system comprises a plurality of jibs and oil cylinder that between each jib, is provided with and electromagnetic valve; Said pumping system comprises the oil pump of oil cylinder and concrete cylinder and driving oil cylinder and concrete cylinder, and wherein, this concrete mixer also comprises according to the described pumping control of each claim among claim 1-5 system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110302035 CN102505851B (en) | 2011-09-28 | 2011-09-28 | Concrete pump truck and pumping control system and method for concrete pump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110302035 CN102505851B (en) | 2011-09-28 | 2011-09-28 | Concrete pump truck and pumping control system and method for concrete pump truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102505851A true CN102505851A (en) | 2012-06-20 |
| CN102505851B CN102505851B (en) | 2013-05-01 |
Family
ID=46217979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110302035 Active CN102505851B (en) | 2011-09-28 | 2011-09-28 | Concrete pump truck and pumping control system and method for concrete pump truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102505851B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102733826A (en) * | 2012-07-11 | 2012-10-17 | 中联重科股份有限公司 | Injection trolley and mounting frame of pumping system thereof |
| CN103644250A (en) * | 2013-12-06 | 2014-03-19 | 长沙中联消防机械有限公司 | Fire fighting truck boom vibration control device, method and system and fire fighting truck |
| CN103792896A (en) * | 2012-11-02 | 2014-05-14 | 刘胜 | Integrated heavy-machinery intelligent cantilever crane control system and control method |
| CN104675119A (en) * | 2013-11-27 | 2015-06-03 | 北汽福田汽车股份有限公司 | Pumping method of concrete pump truck and pumping control device for concrete pump truck |
| CN105626492A (en) * | 2014-10-28 | 2016-06-01 | 中联重科股份有限公司 | Loading system, method and device of concrete pump truck |
| CN110926564A (en) * | 2019-12-04 | 2020-03-27 | 湖南五新隧道智能装备股份有限公司 | Pumping frequency and volume determining method and system and pumping frequency determining device |
| CN111622914A (en) * | 2020-05-29 | 2020-09-04 | 三一汽车制造有限公司 | Concrete pumping system, concrete pumping equipment and control method |
| CN112880813A (en) * | 2021-01-20 | 2021-06-01 | 长沙理工大学 | Concrete pump truck arm support natural frequency calculation method and device |
| CN113565720A (en) * | 2021-07-21 | 2021-10-29 | 中联重科股份有限公司 | Method, processor, device and pump truck for determining pumping volume |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3443018B2 (en) * | 1994-01-31 | 2003-09-02 | 極東開発工業株式会社 | Boom device for fluid transport |
| CN101922429A (en) * | 2010-08-25 | 2010-12-22 | 三一重工股份有限公司 | Concrete mixer and controlling method thereof, pumping system and distributing mechanism thereof |
| CN201818480U (en) * | 2010-06-30 | 2011-05-04 | 中集车辆（集团）有限公司 | Concrete pump and pumping control device thereof |
| CN102094802A (en) * | 2010-12-27 | 2011-06-15 | 徐工集团工程机械股份有限公司建设机械分公司 | Pump truck and pump truck monitoring method |
-
2011
- 2011-09-28 CN CN 201110302035 patent/CN102505851B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3443018B2 (en) * | 1994-01-31 | 2003-09-02 | 極東開発工業株式会社 | Boom device for fluid transport |
| CN201818480U (en) * | 2010-06-30 | 2011-05-04 | 中集车辆（集团）有限公司 | Concrete pump and pumping control device thereof |
| CN101922429A (en) * | 2010-08-25 | 2010-12-22 | 三一重工股份有限公司 | Concrete mixer and controlling method thereof, pumping system and distributing mechanism thereof |
| CN102094802A (en) * | 2010-12-27 | 2011-06-15 | 徐工集团工程机械股份有限公司建设机械分公司 | Pump truck and pump truck monitoring method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102733826A (en) * | 2012-07-11 | 2012-10-17 | 中联重科股份有限公司 | Injection trolley and mounting frame of pumping system thereof |
| CN102733826B (en) * | 2012-07-11 | 2015-06-03 | 中联重科股份有限公司 | Injection trolley and mounting frame of pumping system thereof |
| CN103792896A (en) * | 2012-11-02 | 2014-05-14 | 刘胜 | Integrated heavy-machinery intelligent cantilever crane control system and control method |
| CN104675119A (en) * | 2013-11-27 | 2015-06-03 | 北汽福田汽车股份有限公司 | Pumping method of concrete pump truck and pumping control device for concrete pump truck |
| CN103644250A (en) * | 2013-12-06 | 2014-03-19 | 长沙中联消防机械有限公司 | Fire fighting truck boom vibration control device, method and system and fire fighting truck |
| CN103644250B (en) * | 2013-12-06 | 2015-11-25 | 长沙中联消防机械有限公司 | Fire fighting truck boom vibration control device, method and system and fire fighting truck |
| CN105626492A (en) * | 2014-10-28 | 2016-06-01 | 中联重科股份有限公司 | Loading system, method and device of concrete pump truck |
| CN105626492B (en) * | 2014-10-28 | 2017-09-12 | 中联重科股份有限公司 | loading system, method and device of concrete pump truck |
| CN110926564A (en) * | 2019-12-04 | 2020-03-27 | 湖南五新隧道智能装备股份有限公司 | Pumping frequency and volume determining method and system and pumping frequency determining device |
| CN111622914A (en) * | 2020-05-29 | 2020-09-04 | 三一汽车制造有限公司 | Concrete pumping system, concrete pumping equipment and control method |
| CN111622914B (en) * | 2020-05-29 | 2022-03-01 | 三一汽车制造有限公司 | Concrete pumping system, concrete pumping equipment and control method |
| CN112880813A (en) * | 2021-01-20 | 2021-06-01 | 长沙理工大学 | Concrete pump truck arm support natural frequency calculation method and device |
| CN113565720A (en) * | 2021-07-21 | 2021-10-29 | 中联重科股份有限公司 | Method, processor, device and pump truck for determining pumping volume |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102505851B (en) | 2013-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102505851A (en) | Concrete pump truck and pumping control system and method for concrete pump truck | |
| CN102071809B (en) | Concrete pump truck and vibration damping device and method for concrete pump truck arm support | |
| EP2778466B1 (en) | Pumper truck and method, controller, and apparatus for controlling pumper truck boom vibration | |
| AU2002224985B2 (en) | Large manipulator having a vibration damping capacity | |
| CN102828621B (en) | Engineering machinery arm support control method, device and system | |
| CN102108790B (en) | Concrete pumping equipment and arm support state control system thereof | |
| CN100417812C (en) | Apparatus and method for controlling operation of reciprocating compressor | |
| CN103383572B (en) | Engineering machinery and vibration control method, control device and control system of arm support of engineering machinery | |
| EP3026178A1 (en) | Tamping machine for railway ballast | |
| CN102434620B (en) | Pump truck stability control method, device and system and pump truck with system | |
| CN103148062B (en) | Stroke control system, method and device for series oil cylinders | |
| CN102338191B (en) | Arm support vibration suppression method and system as well as arm-support-type engineering machinery | |
| CN102797787A (en) | Concrete distributing equipment and method, controller and device for suppressing vibration of arm support of concrete distributing equipment | |
| CN102322497A (en) | Method and system for inhibiting vibration of arm support and arm support type engineering machinery | |
| US20170306572A1 (en) | Vibratory Compacting Machine | |
| WO2013082976A1 (en) | Control apparatus, control method and concrete pump for viscous body pumping mechanism | |
| CN104196692B (en) | Pumping equipment, pumping system and reversing control device and method of pumping system | |
| JPWO2014030498A1 (en) | Liquid chromatograph device and liquid feeding device | |
| CN103557149A (en) | Control equipment, method and system of concrete piston and engineering machinery | |
| Klarecki et al. | Influence of the controller settings on the behaviour of the hydraulic servo drive | |
| CN103147768B (en) | Arm support equipment link mechanism control device, system and method and engineering machinery | |
| CN102767285B (en) | Arm support stroke control oil cylinder device and arm support vibration control system | |
| EP2647842A1 (en) | Method, apparatus, and system for controlling pumping direction-switching for use in pumping apparatus | |
| CN112880813B (en) | Concrete pump truck arm support natural frequency calculation method and device | |
| KR20240090244A (en) | Vibration frequency adjustment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |